Arrangement and method for operating a hydraulically operated boom carrying a tool in a carrier

Abstract

A carrier comprising at least a first hydraulic cylinder and a second hydraulic cylinder both having each a piston and a piston position sensor, wherein the carrier is arranged to carry a tool through the use of the hydraulic cylinders and wherein the controller is configured to: receive control information to move the tool in a direction along a working line; receive position information for the first cylinder; receive position information for the second cylinder; determine if the working line for the tool is maintained, and, if the working line is not maintained, then adapt for the movement of the first cylinder by providing control of the second cylinder to maintain the working line for the tool and thereby feeding the tool along the working line.

The invention claimed is: 
     
       1. A carrier comprising a controller, at least a first hydraulic cylinder and a second hydraulic cylinder both having each a piston and a piston position sensor, wherein the carrier is arranged to carry a tool via the first and second hydraulic cylinders and wherein the controller is configured to:
 receive control information for controlling at least one of the first and the second hydraulic cylinder to move the tool in a direction along a working line; 
 receive position information for the first hydraulic cylinder; 
 receive position information for the second hydraulic cylinder; 
 determine if the working line for the tool is maintained, and if the working line is not maintained then 
 adapt for movement of said at least one of the first and the second hydraulic cylinder by providing control of at least the other of the first and the second hydraulic cylinder to maintain the working line for the tool and thereby feeding the tool along the working line. 
 
     
     
       2. The carrier according to  claim 1 , wherein the controller is further configured to receive control information for moving the tool in a direction along the working line based on input commands from a specified command control for moving the tool in a direction along the working line, the command control being comprised in the carrier. 
     
     
       3. The carrier according to  claim 1 , wherein the carrier comprises at least one control and wherein the controller is further configured to receive a command to set the working line, and in response thereto store the working line to be maintained, wherein the command to set the working line is a specific command through one of the controls whereby the controller would set a current working line as the working line to be maintained. 
     
     
       4. The carrier according to  claim 1 , wherein the carrier comprises at least one control and wherein the controller is further configured to receive a command to set the working line, and in response thereto store the working line to be maintained, wherein the command to set the working line is a command through one of the controls to select between previously stored working lines whereby the controller would set the working line to be maintained to a selected working line. 
     
     
       5. The carrier according to  claim 4 , wherein the controller is further configured to move the tool to the working line, the working line being defined by a height or distance to a reference, and a direction or an angle. 
     
     
       6. The carrier according to  claim 1 , wherein the controller is further configured to receive a command to set the working line, and in response thereto store the working line to be maintained, wherein the command to set the working line is a command to activate the operation of the tool, whereby the controller sets a current working line as the working line to be maintained. 
     
     
       7. The carrier according to  claim 1 , wherein the controller is further configured to determine a new working line to be maintained based on a previous working line to be maintained after the tool has been moved a distance, the new working line being parallel to the previous working line, but at the new position. 
     
     
       8. The carrier according to  claim 7 , wherein the controller is further configured to align the tool along the new working line, automatically or by guiding the operator. 
     
     
       9. The carrier according to  claim 1 , wherein the controller is further configured to receive an indication of a lean angle, and to manipulate the first or the second hydraulic cylinder accordingly for maintaining the working line. 
     
     
       10. The carrier according to  claim 1 , wherein, the carrier comprises an arm arranged to carry the tool and having a first arm member and second arm member, wherein the first hydraulic cylinder is arranged to move the first arm member and the second hydraulic cylinder is arranged to move the second arm member. 
     
     
       11. The carrier according to  claim 10 , wherein the second arm member is pivotally coupled to the first arm member. 
     
     
       12. The carrier according to  claim 10 , wherein the first arm is pivotally coupled to the carrier. 
     
     
       13. The carrier according to  claim 10 , wherein the first hydraulic cylinder is coupled to the first arm member and to the carrier. 
     
     
       14. The carrier according to  claim 10 , wherein the second hydraulic cylinder is coupled to second arm member and to the carrier. 
     
     
       15. A method for use in a carrier comprising at least a first hydraulic cylinder and a second hydraulic cylinder both having each a piston, a controller and a piston position sensor, wherein the carrier is arranged to carry a tool through the use of the hydraulic cylinders and wherein the method comprises:
 receiving control information for controlling at least one of the first and the second hydraulic cylinder to move the tool in a direction along a working line; 
 receiving position information for the first hydraulic cylinder; 
 receiving position information for the second hydraulic cylinder; 
 determining if the working line for the tool is maintained, and if the working line is not maintained, then 
 adapting for the movement of said at least one of the first and the second hydraulic cylinder by providing control of at least the other of the first and the second hydraulic cylinder to maintain the working line for the tool and thereby feeding the tool along the working line.